# -*- coding: utf-8 -*-
# Copyright (C) 2011-2014 Rosen Diankov <rosen.diankov@gmail.com>
# 
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#     http://www.apache.org/licenses/LICENSE-2.0
# 
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from common_test_openrave import *

class TestBinaryTrajectory(EnvironmentSetup):
	def test_binary_traj(self):
		trajFile1 = """
		<trajectory>
		<configuration>
		<group name="joint_values GP7 0 1 2 3 4 5" offset="0" dof="6" interpolation="linear"/>
		<group name="joint_velocities GP7 0 1 2 3 4 5" offset="6" dof="6" interpolation="linear"/>
		<group name="deltatime" offset="12" dof="1" interpolation=""/>
		<group name="envclearance" offset="13" dof="1" interpolation="previous"/>
		<group name="ikparam_values 1728053249" offset="14" dof="7" interpolation="quadratic"/>
		<group name="ikparam_velocities 1728053249" offset="21" dof="7" interpolation="linear"/>
		<group name="iswaypoint" offset="28" dof="1" interpolation="next"/>
		</configuration>
		<data count="454">
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		<description><![CDATA[PickAndPlace cycle=430 depart (graspDepart+transferToDest+destApproach) target='detected_sourcecontainer2_1', grasp='g6dpz0_0_0_0_gci63_61', dest='destcontainer3/P_1']]></description>
		</trajectory>
		"""

		trajFile2 = """
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		</trajectory>
		"""

		env = Environment()

		trajectory1 = RaveCreateTrajectory(env, '')
		trajectory2 = RaveCreateTrajectory(env, '')
		trajectory3 = RaveCreateTrajectory(env, '')
		trajectory1Copy = RaveCreateTrajectory(env, '')
		trajectory2Copy = RaveCreateTrajectory(env, '')
		trajectory3Copy = RaveCreateTrajectory(env, '')

		# XML loaded data for ground truth
		trajectory1.deserialize(trajFile1)
		trajectory2.deserialize(trajFile2)
		trajectory3.deserialize(trajFile3)

		trajBinary1 = trajectory1.serialize()
		trajBinary2 = trajectory2.serialize()
		trajBinary3 = trajectory3.serialize()

		trajectory1Copy.deserialize(trajBinary1)
		trajectory2Copy.deserialize(trajBinary2)
		trajectory3Copy.deserialize(trajBinary3)

		# Make sure metadata is the same
		assert trajectory1.GetConfigurationSpecification() == trajectory1Copy.GetConfigurationSpecification()
		assert trajectory2.GetConfigurationSpecification() == trajectory2Copy.GetConfigurationSpecification()
		assert trajectory3.GetConfigurationSpecification() == trajectory3Copy.GetConfigurationSpecification()

		# Make sure number of waypoints is correct
		assert trajectory1.GetNumWaypoints() == trajectory1Copy.GetNumWaypoints()
		assert trajectory2.GetNumWaypoints() == trajectory2Copy.GetNumWaypoints()
		assert trajectory3.GetNumWaypoints() == trajectory3Copy.GetNumWaypoints()

		# Make sure waypoints have same values
		assert list(trajectory1.GetWaypoints(0, trajectory1.GetNumWaypoints())) == list(trajectory1Copy.GetWaypoints(0, trajectory1Copy.GetNumWaypoints()))
		assert list(trajectory2.GetWaypoints(0, trajectory2.GetNumWaypoints())) == list(trajectory2Copy.GetWaypoints(0, trajectory2Copy.GetNumWaypoints()))
		assert list(trajectory3.GetWaypoints(0, trajectory3.GetNumWaypoints())) == list(trajectory3Copy.GetWaypoints(0, trajectory3Copy.GetNumWaypoints()))

		trajectory1.SetDescription('test')
		assert(trajectory1.GetDescription()=='test')
                
		trajBinary1 = trajectory1.serialize()
		trajectory1Copy.deserialize(trajBinary1)
		assert(trajectory1Copy.GetDescription()=='test')
